diff options
Diffstat (limited to 'src/modules/uavcan/sensors/sensor_bridge.hpp')
| -rw-r--r-- | src/modules/uavcan/sensors/sensor_bridge.hpp | 11 |
1 files changed, 5 insertions, 6 deletions
diff --git a/src/modules/uavcan/sensors/sensor_bridge.hpp b/src/modules/uavcan/sensors/sensor_bridge.hpp index e31960537..94e52dbe5 100644 --- a/src/modules/uavcan/sensors/sensor_bridge.hpp +++ b/src/modules/uavcan/sensors/sensor_bridge.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2014, 2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -90,28 +90,27 @@ class UavcanCDevSensorBridgeBase : public IUavcanSensorBridge, public device::CD struct Channel { int node_id = -1; - orb_id_t orb_id = nullptr; orb_advert_t orb_advert = -1; int class_instance = -1; + int orb_instance = -1; }; const unsigned _max_channels; const char *const _class_devname; - orb_id_t *const _orb_topics; + const orb_id_t _orb_topic; Channel *const _channels; bool _out_of_channels = false; protected: template <unsigned MaxChannels> UavcanCDevSensorBridgeBase(const char *name, const char *devname, const char *class_devname, - const orb_id_t (&orb_topics)[MaxChannels]) : + const orb_id_t orb_topic_sensor) : device::CDev(name, devname), _max_channels(MaxChannels), _class_devname(class_devname), - _orb_topics(new orb_id_t[MaxChannels]), + _orb_topic(orb_topic_sensor), _channels(new Channel[MaxChannels]) { - memcpy(_orb_topics, orb_topics, sizeof(orb_id_t) * MaxChannels); _device_id.devid_s.bus_type = DeviceBusType_UAVCAN; _device_id.devid_s.bus = 0; } |